Spatio-temporal stiffness optimization with switching dynamics
Spatio-temporal stiffness optimization with switching dynamics
复制标题
具有切换动力学的时空刚度优化
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
S. Vijayakumar
中科院分区：
文献类型：
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作者：
J. Nakanishi;A. Radulescu;D. Braun;S. Vijayakumar
研究了变刚度驱动机器人系统的最优控制问题，包括切换动力学和不连续状态转换。在本文中，我们的重点是考虑动态任务，具有多个阶段的运动，接触和影响与环境的要求，利用系统的被动动力学。通过将这些任务建模为具有基于时间的切换的混合动力系统，我们开发了一种系统的方法来同时优化控制命令，时变刚度配置文件和运动的时间方面，例如切换实例和总运动持续时间，以利用VSA的好处。对一个由VSA驱动的臂式机器人和一个装有变刚度弹簧的跳跃机器人的仿真结果表明了该方法的有效性。此外，硬件实验上的两个链接臂式机器人与VSA突出了所提出的框架在一个具有挑战性的任务的臂式的适用性。
We address the optimal control problem of robotic systems with variable stiffness actuation (VSA) including switching dynamics and discontinuous state transitions. Our focus in this paper is to consider dynamic tasks that have multiple phases of movement, contacts and impacts with the environment with a requirement of exploiting passive dynamics of the system. By modelling such tasks as a hybrid dynamical system with time-based switching, we develop a systematic methodology to simultaneously optimize control commands, time-varying stiffness profiles and temporal aspect of the movement such as switching instances and total movement duration to exploit the benefits of VSA. Numerical evaluations on a brachiating robot driven with VSA and a hopping robot equipped with variable stiffness springs demonstrate the effectiveness of the proposed approach. Furthermore, hardware experiments on a two-link brachiating robot with VSA highlight the applicability of the proposed framework in a challenging task of brachiation.